Method, device, and apparatus for gimbal parameter adjustment

Patent metadata

Field	Value
Publication number	US-10060576-B2
Application number	US-201615394127-A
Country	US
Kind code	B2
Filing date	Dec 29, 2016
Priority date	Jun 30, 2014
Publication date	Aug 28, 2018
Grant date	Aug 28, 2018

Abstract

Method, device, and apparatus for a gimbal parameter adjustment are provided. An exemplary method includes: controlling a supply of power to a motor upon detection of a gimbal parameter adjustment event, recording rotational angular velocity data of a gimbal axis controlled by the motor at respective time points, calculating angular acceleration data at the respective time points based on the rotational angular velocity data, determining a peak frequency within a predefined frequency band after performing a frequency conversion on the angular acceleration data, and configuring the peak frequency as a trap frequency of the motor to filter out a signal sending to the motor and having a frequency of the trap frequency.

First claim

What is claimed is:

1. A method for adjusting gimbal parameter, comprising:
controlling a supply of power to a motor upon a detection of a gimbal parameter adjustment event and recording rotational angular velocity data of a gimbal axis controlled by the motor at respective time points;
calculating angular acceleration data at the respective time points based on the rotational angular velocity data, and determining a peak frequency within a preset frequency band after performing a frequency conversion on the angular acceleration data; and
configuring the peak frequency as a trap frequency of the motor to filter out a signal sending to the motor and having a frequency of the trap frequency.

2. The method according to claim 1 , wherein controlling a supply of power to a motor upon a detection of a gimbal parameter adjustment event and recording rotational angular velocity data of a gimbal axis controlled by the motor at respective time points comprises:
controlling a power supplying current to the motor to be zero upon a detection of the gimbal parameter adjustment event;
starting a timing process when the power supplying current is controlled to be zero, and selecting a predefined reference current value to supply power to the motor when a timed duration reaches a predefined first duration threshold; and
recording the rotational angular velocity data of the gimbal axis controlled by the motor at the respective time points in a power supplying process.

3. The method according to claim 1 , wherein controlling a supply of power to a motor upon a detection of a gimbal parameter adjustment event and recording rotational angular velocity data of a gimbal axis controlled by the motor at respective time points comprises:
controlling a power supplying current to the motor to be zero upon a detection of the gimbal parameter adjustment event;
starting a timing process when the power supplying current is controlled to be zero, selecting a predefined reference current value to supply power to the motor when a timed duration reaches a predefined first duration threshold, recording initial rotational angular velocity data of the gimbal axis controlled by the motor at the respective time points in a power supplying process,
controlling the power supplying current to the motor to be zero when a power supplying duration reaches a predefined second duration threshold, recording the initial rotational angular velocity data, and repeating the steps until the number of recording times reaches a predefined threshold of recording times; and
averaging the initial rotational angular velocity data at the respective time points obtained in each power supplying process and using an averaged result as the rotational angular velocity data of the respective time points in the power supplying process.

4. The method according to claim 1 , further comprising:
calculating a change rate of rotational angular velocity based on the recorded rotational angular velocity data of the respective time points and a recording duration;
acquiring a predefined reference angular velocity change rate and a reference control loop proportional gain; and
calculating a current actual proportional gain of a control loop of the gimbal axis controlled by the motor based on the calculated change rate of the rotational angular velocity, the reference angular velocity change rate, and the reference control loop proportional gain.

5. The method according to claim 4 , wherein controlling supply of power to a motor upon a detection of a gimbal parameter adjustment event and recording rotational angular velocity data of a gimbal axis controlled by the motor at respective time points comprise:
detecting whether a gimbal parameter adjustment button is pressed and triggered, and if yes, determining that a gimbal parameter adjustment event is detected.

6. A gimbal parameter adjustment device, comprising:
a processing module configured to:
control a supply of power to a motor upon a detection of a gimbal parameter adjustment event, and
record rotational angular velocity data of a gimbal axis controlled by the motor at respective time points;

a calculation module configured to:
calculate angular acceleration data at the respective time points based on the rotational angular velocity data, and
determine a peak frequency within a preset frequency band after the angular acceleration data is subject to a frequency conversion; and

a configuration module configured to configure the peak frequency as a trap frequency of the motor to filter out a signal sending to the motor and having a frequency of the trap frequency.

7. The device according to claim 6 , wherein the processing module comprises:
a first control unit configured to control a power supplying current to the motor to be zero upon a detection of the gimbal parameter adjustment event;
a first processing unit configured to:
start a timing process when the power supplying current is controlled to be zero, and
select a predefined reference current value to supply power to the motor when a timed duration reaches a predefined first duration threshold; and

a first recording unit configured to record the rotational angular velocity data of the gimbal axis controlled by the motor at the respective time points in a power supplying process.

8. The device according to claim 6 , wherein the processing module comprises:
a second control unit configured to control a power supplying current to the motor to be zero upon a detection of the gimbal parameter adjustment event;
a second processing unit configured to:
start a timing process when the power supplying current is controlled to be zero,
select a predefined reference current value to supply power to the motor when a timed duration reaches a predefined first duration threshold,
record initial rotational angular velocity data of the gimbal axis controlled by the motor at the respective time points in a power supplying process,
control the power supplying current to the motor to be zero when a power supply duration reaches a predefined second duration threshold,
record the initial rotational angular velocity data, and
repeat the steps until the number of recording times reaches a predefined threshold of recording times; and

a second recording unit configured to average the initial rotational angular velocity data at the respective time points obtained in each power supplying process and using an averaged result as the rotational angular velocity data of the respective time points in the power supplying process.

9. The device according to claim 6 , further comprising:
a change calculation module configured to calculate a change rate of rotational angular velocity based on the recorded rotational angular velocity data of the respective time points and a recording duration;
an acquisition module configured to acquire a predefined reference angular velocity change rate and a reference control loop proportional gain; and
a gain calculation module configured to calculate a current actual proportional gain of a control loop of the gimbal axis controlled by the motor based on the calculated change rate of the rotational angular velocity, the reference angular velocity change rate, and the reference control loop proportional gain.

10. The device according to claim 9 , further comprising:
a detection module configured to:
detect whether a gimbal parameter adjustment button is pressed and triggered, and
if yes, determine that a gimbal parameter adjustment event is detected.

11. A gimbal apparatus, comprising:
one or more gimbal axes; and
a motor and a controller, configured to control the one or more gimbal axes to rotate, wh

Assignees

• Sz Dji Osmo Technology Co Ltd

Inventors

• Chen Fazhan

Classifications

• F16M2200/00

  Details of stands or supports · CPC title

• F16M13/04 Primary

  for supporting on, or holding steady relative to, a person, e.g. by chains {, e.g. rifle butt or pistol grip supports, supports attached to the chest or head (apparatus or arrangements for taking photographs or for projecting or viewing them G03B)} · CPC title

• G03B17/561

  Support related camera accessories · CPC title

• H02P6/28

  Arrangements for controlling current (H02P6/10 takes precedence) · CPC title

• F16M2200/044

  for balancing rotational movement of the undercarriage · CPC title